Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. - Andrew L. Orekhov; Caroline B. Black; John Till; Scotty Chung; D. Caleb Rucker (IEEE Robotics Autom. Lett., 2016)

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. - Ryan Ponten; Caroline B. Black; Andrew J. Russ; D. Caleb Rucker (Image-Guided Procedures, 2017)

Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing. - Caroline B. Black; John Till; D. Caleb Rucker (IEEE Trans. Robotics, 2018)